Copula‐based uncertainty modelling: application to multisensor precipitation estimates

The multisensor precipitation estimates (MPE) data, available in hourly temporal and 4 km × 4 km spatial resolution, are produced by the National Weather Service and mosaicked as a national product known as Stage IV. The MPE products have a significant advantage over rain gauge measurements due to their ability to capture spatial variability of rainfall. However, the advantages are limited by complications related to the indirect nature of remotely sensed precipitation estimates. Previous studies confirm that efforts are required to determine the accuracy of MPE and their associated uncertainties for future use in hydrological and climate studies. So far, various approaches and extensive research have been undertaken to develop an uncertainty model. In this paper, an ensemble generator is presented for MPE products that can be used to evaluate the uncertainty of rainfall estimates. Two different elliptical copula families, namely, Gaussian and t‐copula are used for simulations. The results indicate that using t‐copula may have significant advantages over the well‐known Gaussian copula particularly with respect to extremes. Overall, the model in which t‐copula was used for simulation successfully generated rainfall ensembles with similar characteristics to those of the ground reference measurements. Copyright © 2010 John Wiley & Sons, Ltd.     

Spatial reconstruction of rainfall fields from rain gauge and radar data

Rainfall is a phenomenon difficult to model and predict, for the strong spatial and temporal heterogeneity and the presence of many zero values. We deal with hourly rainfall data provided by rain gauges, sparsely distributed on the ground, and radar data available on a fine grid of pixels. Radar data overcome the problem of sparseness of the rain gauge network, but are not reliable for the assessment of rain amounts. In this work we investigate how to calibrate radar measurements via rain gauge data and make spatial predictions for hourly rainfall, by means of Monte Carlo Markov Chain algorithms in a Bayesian hierarchical framework. We use zero-inflated distributions for taking zero-measurements into account. Several models are compared both in terms of data fitting and predictive performances on a set of validation sites. Finally, rainfall fields are reconstructed and standard error estimates at each prediction site are shown via easy-to-read spatial maps.     

Estimation of radar-rainfall error spatial correlation

The study presents a theoretical framework for estimating the radar-rainfall error spatial correlation (ESC) using data from relatively dense rain gauge networks. The error is defined as the difference between the radar estimate and the corresponding true areal rainfall. The method is analogous to the error variance separation that corrects the error variance of a radar-rainfall product for gauge representativeness errors. The study demonstrates the necessity to consider the area–point uncertainties while estimating the spatial correlation structure in the radar-rainfall errors. To validate the method, the authors conduct a Monte Carlo simulation experiment with synthetic fields with known error spatial correlation structure. These tests reveal that the proposed method, which accounts for the area–point distortions in the estimation of radar-rainfall ESC, performs very effectively. The authors then apply the method to estimate the ESC of the National Weather Service’s standard hourly radar-rainfall products, known as digital precipitation arrays (DPA). Data from the Oklahoma Micronet rain gauge network (with the grid step of about 5 km) are used as the ground reference for the DPAs. This application shows that the radar-rainfall errors are spatially correlated with a correlation distance of about 20 km. The results also demonstrate that the spatial correlations of radar–gauge differences are considerably underestimated, especially at small distances, as the area–point uncertainties are ignored.     

Empirically-based modeling of spatial sampling uncertainties associated with rainfall measurements by rain gauges

In the quantitative evaluation of radar-rainfall products (maps), rain gauge data are generally used as a good approximation of the true ground rainfall. However, rain gauges provide accurate measurements for a specific location, while radar estimates represent areal averages. Because these sampling discrepancies could introduce noise into the comparisons between these two sensors, they need to be accounted for. In this study, the spatial sampling error is defined as the ratio between the measurements by a single rain gauge and the true areal rainfall, defined as the value obtained by averaging the measurements by an adequate number of gauges within a pixel. Using a non-parametric scheme, the authors characterize its full statistical distribution for several spatial (4, 16 and 36 km²) and temporal (15 min and hourly) scales.     

Flood simulation using the gauge‐adjusted radar rainfall and physics‐based distributed hydrologic model

This paper reports the results of an investigation into flood simulation by areal rainfall estimated from the combination of gauged and radar rainfalls and a rainfall–runoff model on the Anseong‐cheon basin in the southern part of Korea. The spatial and temporal characteristics and behaviour of rainfall are analysed using various approaches combining radar and rain gauges: (1) using kriging of the rain gauge alone; (2) using radar data alone; (3) using mean field bias (MFB) of both radar and rain gauges; and (4) using conditional merging technique (CM) of both radar and rain gauges. To evaluate these methods, statistics and hyetograph for rain gauges and radar rainfalls were compared using hourly radar rainfall data from the Imjin‐river, Gangwha, rainfall radar site, Korea. Then, in order to evaluate the performance of flood estimates using different rainfall estimation methods, rainfall–runoff simulation was conducted using the physics‐based distributed hydrologic model, Vflo^?. The flood runoff hydrograph was used to compare the calculated hydrographs with the observed one. Results show that the rainfall field estimated by CM methods improved flood estimates, because it optimally combines rainfall fields representing actual spatial and temporal characteristics of rainfall. Copyright © 2008 John Wiley & Sons, Ltd.     

Estimation of rainfall from infrared‐microwave satellite data for basin‐scale hydrologic modelling

The infrared‐microwave rainfall algorithm (IMRA) was developed for retrieving spatial rainfall from infrared (IR) brightness temperatures (TBs) of satellite sensors to provide supplementary information to the rainfall field, and to decrease the traditional dependency on limited rain gauge data that are point measurements. In IMRA, a SLOPE technique (ST) was developed for discriminating rain/no‐rain pixels through IR image cloud‐top temperature gradient, and 243K as the IR threshold temperature for minimum detectable rainfall rate. IMRA also allows for the adjustment of rainfall derived from IR‐TB using microwave (MW) TBs. In this study, IMRA rainfall estimates were assessed on hourly and daily basis for different spatial scales (4, 12, 20, and 100 km) using NCEP stage IV gauge‐adjusted radar rainfall data, and daily rain gauge data. IMRA was assessed in terms of the accuracy of the rainfall estimates and the basin streamflow simulated by the hydrologic model, Sacramento soil moisture accounting (SAC‐SMA), driven by the rainfall data. The results show that the ST option of IMRA gave accurate satellite rainfall estimates for both light and heavy rainfall systems while the Hessian technique only gave accurate estimates for the convective systems. At daily time step, there was no improvement in IR‐satellite rainfall estimates adjusted with MW TBs. The basin‐scale streamflow simulated by SAC‐SMA driven by satellite rainfall data was marginally better than when SAC‐SMA was driven by rain gauge data, and was similar to the case using radar data, reflecting the potential applications of satellite rainfall in basin‐scale hydrologic modelling. Copyright © 2010 John Wiley & Sons, Ltd.     

Optimal design of rain gauge network in the Middle Yarra River catchment,Australia

Rainfall data are a fundamental input for effective planning, designing and operating of water resources projects. A well‐designed rain gauge network is capable of providing accurate estimates of necessary areal average and/or point rainfall estimates at any desired ungauged location in a catchment. Increasing network density with additional rain gauge stations has been the main underlying criterion in the past to reduce error and uncertainty in rainfall estimates. However, installing and operation of additional stations in a network involves large cost and manpower. Hence, the objective of this study is to design an optimal rain gauge network in the Middle Yarra River catchment in Victoria, Australia. The optimal positioning of additional stations as well as optimally relocating of existing redundant stations using the kriging‐based geostatistical approach was undertaken in this study. Reduction of kriging error was considered as an indicator for optimal spatial positioning of the stations. Daily rainfall records of 1997 (an El Niño year) and 2010 (a La Niña year) were used for the analysis. Ordinary kriging was applied for rainfall data interpolation to estimate the kriging error for the network. The results indicate that significant reduction in the kriging error can be achieved by the optimal spatial positioning of the additional as well as redundant stations. Thus, the obtained optimal rain gauge network is expected to be appropriate for providing high quality rainfall estimates over the catchment. The concept proposed in this study for optimal rain gauge network design through combined use of additional and redundant stations together is equally applicable to any other catchment. © 2014 The Authors. Hydrological Processes published by John Wiley & Sons Ltd.     

基于面平均雨量误差修正的实时洪水预报修正方法

空间集总式水文模型的洪水预报精度会受到面平均雨量估计误差的严重影响.点雨量监测值的误差类型、误差大小以及流域的雨量站点密度和站点的空间分布都会影响到面平均雨量的计算.为提高实时洪水预报精度,本文提出了一种基于降雨系统响应曲线洪水预报误差修正方法.通过此方法估计降雨输入项的误差,从而提高洪水预报精度.此方法将水文模型做为输入和输出之间的响应系统,用实测流量和计算流量之间的差值做为信息,通过降雨系统响应曲线,使用最小二乘估计原理,对面平均雨量进行修正,再用修正后的面平均雨量重新计算出流过程.将此修正方法结合新安江模型使用理想案例进行检验,并应用于王家坝流域的16场历史洪水以及此流域不同雨量站密度的情况下,结果证明均有明显修正效果,且在雨量站密度较低时修正效果更加明显.该方法是一种结构简单且不增加模型参数和复杂度的实时洪水修正的新方法.     

Numerical investigation of the impact of uncertainties in satellite rainfall estimation and land surface model parameters on simulation of soil moisture

This study aims at evaluating the uncertainty in the prediction of soil moisture (1D, vertical column) from an offline land surface model (LSM) forced by hydro-meteorological and radiation data. We focus on two types of uncertainty: an input error due to satellite rainfall retrieval uncertainty, and, LSM soil-parametric error. The study is facilitated by in situ and remotely sensed data-driven (precipitation, radiation, soil moisture) simulation experiments comprising a LSM and stochastic models for error characterization. The parametric uncertainty is represented by the generalized likelihood uncertainty estimation (GLUE) technique, which models the parameter non-uniqueness against direct observations. Half-hourly infra-red (IR) sensor retrievals were used as satellite rainfall estimates. The IR rain retrieval uncertainty is characterized on the basis of a satellite rainfall error model (SREM). The combined uncertainty (i.e., SREM + GLUE) is compared with the partial assessment of uncertainty. It is found that precipitation (IR) error alone may explain moderate to low proportion of the soil moisture simulation uncertainty, depending on the level of model accuracy—50–60% for high model accuracy, and 20–30% for low model accuracy. Comparisons on the basis of two different sites also yielded an increase (50–100%) in soil moisture prediction uncertainty for the more vegetated site. This study exemplified the need for detailed investigations of the rainfall retrieval-modeling parameter error interaction within a comprehensive space-time stochastic framework for achieving optimal integration of satellite rain retrievals in land data assimilation systems.     

Modeling radar-rainfall estimation uncertainties using parametric and non-parametric approaches

There are large uncertainties associated with radar estimates of rainfall, including systematic errors as well as the random effects from several sources. This study focuses on the modeling of the systematic error component, which can be described mathematically in terms of a conditional expectation function. The authors present two different approaches: non-parametric (kernel-based) and parametric (copula-based). A large sample (more than six years) of rain gauge measurements from a dense network located in south-west England is used as an approximation of the true ground rainfall. These data are complemented with rainfall estimates by a C-band weather radar located at Wardon Hill, which is about 40 km from the catchment. The authors compare the results obtained using the parametric and non-parametric schemes for four temporal scales of hydrologic interest (5 and 15 min, hourly and three-hourly) by means of several different performance indices and discuss the strengths and weaknesses of each approach.     

Radar rainfall uncertainty modelling influenced by wind

Radar‐based estimates of rainfall are affected by many sources of uncertainties, which would propagate through the hydrological model when radar rainfall estimates are used as input or initial conditions. An elegant solution to quantify these uncertainties is to model the empirical relationship between radar measurements and rain gauge observations (as the ‘ground reference’). However, most current studies only use a fixed and uniform model to represent the uncertainty of radar rainfall, without consideration of its variation under different synoptic regimes. Wind is such a typical weather factor, as it not only induces error in rain gauge measurements but also causes the raindrops observed by weather radar to drift when they reach the ground. For this reason, as a first attempt, this study introduces the wind field into the uncertainty model and designs the radar rainfall uncertainty model under different wind conditions. We separate the original dataset into three subsamples according to wind speed, which are named as WDI (0–2 m/s), WDII (2–4 m/s) and WDIII (>4 m/s). The multivariate distributed ensemble generator is introduced and established for each subsample. Thirty typical events (10 at each wind range) are selected to explore the behaviours of uncertainty under different wind ranges. In each time step, 500 ensemble members are generated, and the values of 5th to 95th percentile values are used to produce the uncertainty bands. Two basic features of uncertainty bands, namely dispersion and ensemble bias, increase significantly with the growth of wind speed, demonstrating that wind speed plays a considerable role in influencing the behaviour of the uncertainty band. On the basis of these pieces of evidence, we conclude that the radar rainfall uncertainty model established under different wind conditions should be more realistic in representing the radar rainfall uncertainty. This study is only a start in incorporating synoptic regimes into rainfall uncertainty analysis, and a great deal of more effort is still needed to build a realistic and comprehensive uncertainty model for radar rainfall data. Copyright © 2014 John Wiley & Sons, Ltd.     

Adjustment of wind-drift effect for real-time systematic error correction in radar rainfall data

An effective bias correction procedure using gauge measurement is a significant step for radar data processing to reduce the systematic error in hydrological applications. In these bias correction methods, the spatial matching of precipitation patterns between radar and gauge networks is an important premise. However, the wind-drift effect on radar measurement induces an inconsistent spatial relationship between radar and gauge measurements as the raindrops observed by radar do not fall vertically to the ground. Consequently, a rain gauge does not correspond to the radar pixel based on the projected location of the radar beam. In this study, we introduce an adjustment method to incorporate the wind-drift effect into a bias correlation scheme. We first simulate the trajectory of raindrops in the air using downscaled three-dimensional wind data from the weather research and forecasting model (WRF) and calculate the final location of raindrops on the ground. The displacement of rainfall is then estimated and a radar–gauge spatial relationship is reconstructed. Based on this, the local real-time biases of the bin-average radar data were estimated for 12 selected events. Then, the reference mean local gauge rainfall, mean local bias, and adjusted radar rainfall calculated with and without consideration of the wind-drift effect are compared for different events and locations. There are considerable differences for three estimators, indicating that wind drift has a considerable impact on the real-time radar bias correction. Based on these facts, we suggest bias correction schemes based on the spatial correlation between radar and gauge measurements should consider the adjustment of the wind-drift effect and the proposed adjustment method is a promising solution to achieve this.     

Using data-derived perturbations to incorporate uncertainty in generating stochastic areal rainfall from point rainfall

Abstract

Raingauge measurements are commonly used to estimate daily areal rainfall for catchment modelling. The variation of rainfall between the gauges is usually inadequately captured and areal rainfall estimates are therefore very uncertain. A method of quantifying these uncertainties and incorporating them into ensembles of areal rainfall is demonstrated and tested. The uncertainties are imposed as perturbations based on the differences in areal rainfall that result when half of the raingauges are alternately omitted. Also included is a method of: (a) estimating the proportion rainfall that falls on areas where no gauges are located that are consequently computed as having zero rain, and (b) replacing them with plausible non-zero rainfalls. The model is tested using daily rainfall from two South African catchments and is found to exhibit the expected behaviour. One of the two parameters of the model is obtained from the rainfall data, while the other has direct physical interpretation.

Editor D. Koutsoyiannis; Associate editor C. Onof

Citation Ndiritu, J., 2013. Using data-derived perturbations to incorporate uncertainty in generating stochastic areal rainfall from point rainfall. Hydrological Sciences Journal, 58 (8), 1704–1717.     

Rainfall network design using kriging and entropy

The spatial distribution of rainfall is related to meteorological and topographical factors. An understanding of the weather and topography is required to select the locations of the rain gauge stations in the catchment to obtain the optimum information. In theory, a well‐designed rainfall network can accurately represent and provide the needed information of rainfall in the catchment. However, the available rainfall data are rarely adequate in the mountainous area of Taiwan. In order to provide enough rainfall data to assure the success of water projects, the rainfall network based on the existing rain gauge stations has to be redesigned. A method composed of kriging and entropy that can determine the optimum number and spatial distribution of rain gauge stations in catchments is proposed. Kriging as an interpolator, which performs linear averaging to reconstruct the rainfall over the catchment on the basis of the observed rainfall, is used to compute the spatial variations of rainfall. Thus, the rainfall data at the locations of the candidate rain gauge stations can be reconstructed. The information entropy reveals the rainfall information of the each rain gauge station in the catchment. By calculating the joint entropy and the transmitted information, the candidate rain gauge stations are prioritized. In addition, the saturation of rainfall information can be used to add or remove the rain gauge stations. Thus, the optimum spatial distribution and the minimum number of rain gauge stations in the network can be determined. The catchment of the Shimen Reservoir in Taiwan is used to illustrate the method. The result shows that only seven rain gauge stations are needed to provide the necessary information. Copyright © 2007 John Wiley & Sons, Ltd.     

A non-parametric automatic blending methodology to estimate rainfall fields from rain gauge and radar data

Quantitative estimation of rainfall fields has been a crucial objective from early studies of the hydrological applications of weather radar. Previous studies have suggested that flow estimations are improved when radar and rain gauge data are combined to estimate input rainfall fields. This paper reports new research carried out in this field. Classical approaches for the selection and fitting of a theoretical correlogram (or semivariogram) model (needed to apply geostatistical estimators) are avoided in this study. Instead, a non-parametric technique based on FFT is used to obtain two-dimensional positive-definite correlograms directly from radar observations, dealing with both the natural anisotropy and the temporal variation of the spatial structure of the rainfall in the estimated fields. Because these correlation maps can be automatically obtained at each time step of a given rainfall event, this technique might easily be used in operational (real-time) applications. This paper describes the development of the non-parametric estimator exploiting the advantages of FFT for the automatic computation of correlograms and provides examples of its application on a case study using six rainfall events. This methodology is applied to three different alternatives to incorporate the radar information (as a secondary variable), and a comparison of performances is provided. In particular, their ability to reproduce in estimated rainfall fields (i) the rain gauge observations (in a cross-validation analysis) and (ii) the spatial patterns of radar fields are analyzed. Results seem to indicate that the methodology of kriging with external drift [KED], in combination with the technique of automatically computing 2-D spatial correlograms, provides merged rainfall fields with good agreement with rain gauges and with the most accurate approach to the spatial tendencies observed in the radar rainfall fields, when compared with other alternatives analyzed.     

Integration of gauge and radar rainfall to enable best simulation of hydrological parameters

This study is about use of spatially distributed rain in physically based hydrological models. In recent years, spatially distributed radar rainfall data have become available. The distributed radar rain is used to precisely model hydrologic processes and it is more realistic than the past practice of distribution methods like Thiessen polygons. Radar provides a highly accurate spatial distribution of rainfall and greatly improves the basin average rainfall estimates. However, quantification of the exact amount of rainfall from radar observation is relatively difficult. Thus, the fundamental idea of this study is to apply hourly gauge and radar rainfall data in a distributed hydrological model to simulate hydrological parameters. Hence the comparison is made between the outcomes of the WetSpa model from radar rainfall distribution and gauge rainfall distributed by the Thiessen polygon technique. The comparative plots of the hydrograph and the results of hydrological components such as evapotranspiration, surface runoff, soil moisture, recharge and interflow, reflect the spatially distributed radar input performing well for model outflow simulation.

EDITOR D. Koutsoyiannis

ASSOCIATE EDITOR F. Pappenberger     

Cokriging for enhanced spatial interpolation of rainfall in two Australian catchments

Rainfall data in continuous space provide an essential input for most hydrological and water resources planning studies. Spatial distribution of rainfall is usually estimated using ground‐based point rainfall data from sparsely positioned rain‐gauge stations in a rain‐gauge network. Kriging has become a widely used interpolation method to estimate the spatial distribution of climate variables including rainfall. The objective of this study is to evaluate three geostatistical (ordinary kriging [OK], ordinary cokriging [OCK], kriging with an external drift [KED]), and two deterministic (inverse distance weighting, radial basis function) interpolation methods for enhanced spatial interpolation of monthly rainfall in the Middle Yarra River catchment and the Ovens River catchment in Victoria, Australia. Historical rainfall records from existing rain‐gauge stations of the catchments during 1980–2012 period are used for the analysis. A digital elevation model of each catchment is used as the supplementary information in addition to rainfall for the OCK and kriging with an external drift methods. The prediction performance of the adopted interpolation methods is assessed through cross‐validation. Results indicate that the geostatistical methods outperform the deterministic methods for spatial interpolation of rainfall. Results also indicate that among the geostatistical methods, the OCK method is found to be the best interpolator for estimating spatial rainfall distribution in both the catchments with the lowest prediction error between the observed and estimated monthly rainfall. Thus, this study demonstrates that the use of elevation as an auxiliary variable in addition to rainfall data in the geostatistical framework can significantly enhance the estimation of rainfall over a catchment.     

Perspectives in using a remotely sensed dryness index in distributed hydrological models at the river‐basin scale

In a previous study a spatially distributed hydrological model, based on the MIKE SHE code, was constructed and validated for the 375 000 km² Senegal River basin in West Africa. The model was constructed using spatial data on topography, soil types and vegetation characteristics together with time‐series of precipitation from 112 stations in the basin. The model was calibrated and validated based on river discharge data from nine stations in the basin for 11 years. Calibration and validation results suggested that the spatial resolution of the input data in parts of the area was not sufficient for a satisfactory evaluation of the modelling performance. The study further examined the spatial patterns in the model input and output, and it was found that particularly the spatial resolution of the precipitation input had a major impact on the model response. In an attempt to improve the model performance, this study examines a remotely sensed dryness index for its relationship to simulated soil moisture and evaporation for six days in the wet season 1990. The index is derived from observations of surface temperature and vegetation index as measured by the NOAA Advanced Very High Resolution Radiometer (AVHRR) sensor. The correlation results between the index and the simulation results are of mixed quality. A sensitivity analysis, conducted on both estimates, reveals significant uncertainties in both. The study suggests that the remotely sensed dryness index with its current use of NOAA AVHRR data does not offer information that leads to a better calibration or validation of the simulation model in a spatial sense. The method potentially may become more suitable with the use of the upcoming high‐resolution temporal Meteosat Second Generation data. Copyright © 2002 John Wiley & Sons, Ltd.     

Rainfall spatial variability observed by X-band weather radar and its implication for the accuracy of rainfall estimates

The main objective of this paper is to estimate the error in the rainfall derived from a polarimetric X-band radar, by comparison with the corresponding estimate of a rain gauge network. However the present analysis also considers the errors inherent to rain gauge, in particular instrumental and representativeness errors. A special emphasis is addressed to the spatial variability of the rainfall in order to appreciate the representativeness error of the rain gauge with respect to the 1 km square average, typical of the radar derived estimate. For this purpose the spatial correlation function of the rainfall is analyzed.     

Geospatial blending to improve spatial mapping of precipitation with high spatial resolution by merging satellite‐based and ground‐based data

Estimating accurate spatial distribution of precipitation is important for understanding the hydrologic cycle and various hydro‐environmental applications. Satellite‐based precipitation data have been widely used to measure the spatial distribution of precipitation over large extents, but an improvement in accuracy is still needed. In this study, three different merging techniques (Conditional Merging, Geographical Differential Analysis and Geographical Ratio Analysis) were used to merge precipitation estimations from Communication, Ocean and Meteorological Satellite (COMS) Rainfall Intensity data and ground‐based measurements. Merged products were evaluated with varying rain‐gauge network densities and accumulation times. The results confirmed that accuracy of detecting quantitative rainfall was improved as the accumulation time and network density increased. Also, the impact of spatial heterogeneity of precipitation on the merged estimates was investigated. Our merging techniques reproduced accurate spatial distribution of rainfall by adopting the advantages of both gauge and COMS estimates. The efficacy of the merging techniques was particularly pronounced when the spatial heterogeneity of hourly rainfall, quantified by variance of rainfall, was greater than 10 mm²/accumulation time². Among the techniques analysed, Conditional Merging performed the best, especially when the gauge density was low. This study demonstrates the utility of the COMS Rainfall Intensity product, which has a shorter latency time (1 h) and higher spatio‐temporal resolution (hourly, 4 km by 4 km) than other widely used satellite precipitation products in estimating precipitation using merging techniques with ground‐based point measurements. The outcome has important implications for various hydrologic modelling approaches, especially for producing near real‐time products. Copyright © 2016 John Wiley & Sons, Ltd.